Computer-Aided Spine Surgery Tracking With 3D Vision and Inertial Navigation
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Solution Overview
Problem
Current computer-aided surgery systems face challenges with inaccurate tracking due to patient movement during surgery, occlusion issues, and the need for real-time and accurate feedback for navigating surgical instruments, especially in spinal surgeries.
Innovation Solution
A system utilizing a light projector, 3D video cameras, and an inertial navigation subsystem (INS) to track vertebrae and surgical tools, providing real-time feedback directly to the surgeon through illuminated patterns and visual displays, allowing continuous tracking and navigation despite patient movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional tracking systems are used, then the system is simple to operate, but tracking accuracy deteriorates due to patient movement and occlusion
Solution Approach 1:
The patent combines multiple tracking technologies (optical tracking system and inertial navigation subsystem) into a unified computer-aided surgery system. The optical tracking cameras track markers on surgical tools while the INS provides complementary inertial data, creating a hybrid tracking system that overcomes the limitations of individual systems and maintains accuracy despite patient movement or occlusion.
Solution Approach 2:
The patent introduces a computer as an intermediary that receives and processes data from both the optical tracking system and the inertial navigation subsystem. The computer integrates these multiple data sources, performs coordinate transformations, and generates unified navigation information, acting as a mediator that synthesizes inputs from different tracking modalities to achieve accurate real-time tool positioning.
2Manufacturing precision
If real-time feedback is provided to the surgeon, then surgical precision is improved, but the surgeon's field of view is blocked
Solution Approach 1:
The patent replaces traditional mechanical display devices (such as large external monitors or physical overlays) with an electronic display system integrated into the surgical interface. The computer generates visual feedback that can be presented on screens or through electronic interfaces, eliminating the need for physical structures that would block the surgeon's view while maintaining real-time precision guidance.
Solution Approach 2:
The patent transitions feedback from a physical spatial dimension (where displays would occupy space in the surgical field) to an electronic/digital dimension. By presenting navigation information through computer-generated visual displays, electronic interfaces, or augmented reality overlays, the system provides real-time precision guidance without consuming physical space that would obstruct the surgeon's direct line of sight to the surgical site.
3Measurement precision
If markers are attached to the spine for tracking, then vertebrae can be tracked, but the markers may move relative to the vertebrae during surgery
Solution Approach 1:
The patent employs feedback mechanisms where the computer continuously monitors the position of markers relative to vertebrae and adjusts tracking calculations accordingly. The system receives real-time data from both optical tracking of markers and inertial sensors, compares this against pre-operative imaging data, and dynamically compensates for any marker displacement, maintaining accurate vertebrae tracking despite changes in marker-vertebrae relative positioning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate, real-time tracking and navigation of surgical tools relative to vertebrae, overcoming occlusion and patient movement, enhancing surgical precision and efficiency.
Implementation Method 1
a light projector typically configured to project at least one pattern onto at least one spine
Implementation Method 2
plural 3d video cameras typically operative, when the spine is in their field of view, to capture typically 3d video imagery of the spine and pattern
Implementation Method 3
an inertial navigation subsystem (INS) to repeatedly compute an output tool-status indication of a current orientation aka angle aka angular orientation and of a current position of at least one tool
Data Source
AI summary
A computerized method aiding a surgeon end-user, comprising Providing a light projector configured to project at least one pattern onto spine, Providing 3D video cameras operative, when the spine is in their field of view, to capture 3D video imagery of the spine and pattern; Providing a tool tracker comprising an INS operative to repeatedly compute an output tool-status indication of a current orientation and position of tool used during spine surgery, and a wireless communication module providing data communication between subsystem and a processor including sending the output tool-status indication to the processor, the processor including logic configured to receive the output tool-status indication generated by the tool tracker and the 3D video imagery, and to track vertebra, using the pattern, which is known to the processor, and accordingly to provide feedback to the surgeon.